﻿<?xml version="1.0" encoding="utf-8"?>
<RoombaState xmlns="http://schemas.microsoft.com/robotics/2007/01/irobot.html"
  xmlns:s="http://www.w3.org/2003/05/soap-envelope"
  xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing"
  xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html"
  >
  <Name>Sumo Dummy</Name>
  <SerialPort>1</SerialPort>
  <BaudRate>57600</BaudRate>
  <MaintainMode>Full</MaintainMode>
  <WaitForConnect>true</WaitForConnect>

  <!--
  ConnectionType:
      NotConfigured
      RooTooth
      RoombaSerialPort
      CreateSerialPort
      BluetoothAdapterModule
  -->
  <ConnectionType>CreateSerialPort</ConnectionType>

  <!--
  IRobotModel:  
      NotSpecified
      Roomba
      Create
  -->
  <IRobotModel>Create</IRobotModel>

  <!--
  PollingInterval (ms)
        < 0 = no polling
          0 = default for Create/Roomba
      200-N = ms between polling
      1-199 = ignored. Treated as 0
  -->
  <PollingInterval>100</PollingInterval>

  <!--
  Create Notifications - if you are using the iRobot® Create, you may specify 
  which sensors are returned using the stream notifications protocol.
  This setting is ignored for Roomba.

Note: If any notifications are specified, OIMode must always be included.
  -->
  <CreateNotifications>
  </CreateNotifications>

  <SongDefinitions>
    <CmdDefineSong>
      <SongNumber>1</SongNumber>
      <Notes>
        <RoombaNote>
          <Tone>B_Hz_493p9</Tone>
          <Duration>10</Duration>
        </RoombaNote>
      </Notes>
    </CmdDefineSong>
    <CmdDefineSong>
      <SongNumber>2</SongNumber>
      <Notes>
        <RoombaNote>
          <Tone>B_Hz_987p8</Tone>
          <Duration>24</Duration>
        </RoombaNote>
      </Notes>
    </CmdDefineSong>
    <CmdDefineSong>
      <SongNumber>3</SongNumber>
      <Notes>
        <RoombaNote>
          <Tone>B_Hz_493p9</Tone>
          <Duration>20</Duration>
        </RoombaNote>
        <RoombaNote>
          <Tone>B_Hz_987p8</Tone>
          <Duration>20</Duration>
        </RoombaNote>
      </Notes>
    </CmdDefineSong>
  </SongDefinitions>

</RoombaState>